WO2008086615A1 - Medical imaging probe with rotary encoder - Google Patents

Medical imaging probe with rotary encoder Download PDF

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Publication number
WO2008086615A1
WO2008086615A1 PCT/CA2008/000091 CA2008000091W WO2008086615A1 WO 2008086615 A1 WO2008086615 A1 WO 2008086615A1 CA 2008000091 W CA2008000091 W CA 2008000091W WO 2008086615 A1 WO2008086615 A1 WO 2008086615A1
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WO
WIPO (PCT)
Prior art keywords
imaging
encoder
interface
optical
light
Prior art date
Application number
PCT/CA2008/000091
Other languages
English (en)
French (fr)
Inventor
Brian Courtney
Nigel Robert Munce
Amandeep Singh Thind
Victor Xiao Dong Yang
Francis Stuart Foster
Original Assignee
Sunnybrook Health Sciences Centre
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sunnybrook Health Sciences Centre filed Critical Sunnybrook Health Sciences Centre
Publication of WO2008086615A1 publication Critical patent/WO2008086615A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112—Connection or coupling means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00172—Optical arrangements with means for scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0033—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room
    • A61B5/0035—Features or image-related aspects of imaging apparatus classified in A61B5/00, e.g. for MRI, optical tomography or impedance tomography apparatus; arrangements of imaging apparatus in a room adapted for acquisition of images from more than one imaging mode, e.g. combining MRI and optical tomography
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A61B5/0066—Optical coherence imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0093—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy
    • A61B5/0095—Detecting, measuring or recording by applying one single type of energy and measuring its conversion into another type of energy by applying light and detecting acoustic waves, i.e. photoacoustic measurements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
    • A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
    • A61B5/6852—Catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7203—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal
    • A61B5/7207—Signal processing specially adapted for physiological signals or for diagnostic purposes for noise prevention, reduction or removal of noise induced by motion artifacts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/742—Details of notification to user or communication with user or patient ; user input means using visual displays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/445—Details of catheter construction
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/4461—Features of the scanning mechanism, e.g. for moving the transducer within the housing of the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5292—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves using additional data, e.g. patient information, image labeling, acquisition parameters
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G02B23/2423—Optical details of the distal end
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/002—Devices for damping, suppressing, obstructing or conducting sound in acoustic devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0233—Special features of optical sensors or probes classified in A61B5/00
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4272—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue
    • A61B8/4281—Details of probe positioning or probe attachment to the patient involving the acoustic interface between the transducer and the tissue characterised by sound-transmitting media or devices for coupling the transducer to the tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/54—Control of the diagnostic device
    • A61B8/543—Control of the diagnostic device involving acquisition triggered by a physiological signal
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
    • G02B6/24—Coupling light guides
    • G02B6/36—Mechanical coupling means
    • G02B6/3604—Rotary joints allowing relative rotational movement between opposing fibre or fibre bundle ends

Definitions

  • IVUS intravascular ultrasound
  • a flexible torque cable (Crowley, U.S. Patent No. 4,951 ,677) improves the fidelity of the transmission of rotational torque along the length of an IVUS catheter, minimizing non-uniform rotational distortion.
  • the present invention provides means for accurately measuring or estimating the rotational velocity near the distal end of a minimally invasive medical device, such as an imaging probe which undergoes rotational movement for 360 degree scanning surrounding tissue in bodily lumens and cavities.
  • a minimally invasive medical device such as an imaging probe which undergoes rotational movement for 360 degree scanning surrounding tissue in bodily lumens and cavities.
  • Embodiments of the present invention provide means for minimizing the effect of non-uniform rotational distortion that occurs in imaging systems that use an elongated rotary shaft.
  • the majority of the systems described herein are directed to an imaging probe using either optical or ultrasonic (or both) imaging.
  • the imaging probe includes means for estimating a rotational motion near the distal end of a rotating shaft within the probe.
  • embodiments of the present invention are disclosed herein. However, the disclosed embodiments are merely exemplary, and it should be understood that the invention may be embodied in many various and alternative forms. The Figures are not to scale and some features may be exaggerated or minimized to show details of particular elements while related elements may have been eliminated to prevent obscuring novel aspects.
  • the system herein described further typically comprises a controller and processing unit 18 to facilitate the coordinated activity of the many functional units of the system, and may further comprise a display and/or user interface and may further comprise electrode sensors to acquire electrocardiogram signals from the body of the patient being imaged.
  • the electrocardiogram signals may be used to time the acquisition of imaging data in situations where cardiac motion may have an impact on image quality.
  • a display and user interface 22 is also optionally provided for either real time display or display of data at a time later than the time at which imaging data is acquired.
  • Figure 2 is a perspective drawing of a flexible catheter containing a fiber optic 40 and a co-axial electrical wire 50.
  • the proximal connector contains fiber optic 40 that can be received by the adapter to optically couple the imaging fiber optic 40 to the optical imaging system "back-end”.
  • Dual-fiber optical rotary joints are also available but considerably more complex. Electrical coupling between any conductor mounted onto a rotating component in the imaging probe 12 can be coupled to non-rotating conducting elements via metallic slip rings and springs, metallic slip rings and brushes or other commonly known methods of forming conductive contact between a stationary conductor and a rotary conductor.
  • a generally cylindrical encoder interface such as those seen on cylindrical encoder interface bodies 170 and 180 in Figures 5c and 5d could be produced by either making the encoder pattern 220 on a planar substrate and then wrapping the substrate around an approximately cylindrical surface near the distal end of the imaging probe or by directly producing the encoding pattern 220 on a suitable component of the imaging probe.
  • the width 276, length (not seen in this figure as it is out of plane with the drawing surface) and spacing 277 in between indentations 274 can be tailored as necessary for a specific application, although in most cases the width 276 will be selected as the width that accommodates half the beam power when the emitted beam is centered over an indentation to produce maximal destructive interference.
  • the interferometric encoder interface 270 can be produced using methods known in the art such as those used for manufacture of compact discs.
  • the filter can be wrapped into a cylindrical shape, whereby the axis along which the selected wavelength varies (the selective axis) is bent such that it becomes tangential to the cylinder's surface.
  • a cylindrical encoder interface body such as 170 or 189 as shown in Figures 5cb and
  • a light beam can be characterized by the degree to which the light is polarized, and if it is significantly polarized, can further be characterized by the orientation of the polarization state. It is well known that if a light beam if polarized, that it is possible to modulate the intensity of the polarized light using a polarization filter.
  • a polarization filter has a polarization axis within its plane. Light whose polarization state is not aligned with the polarization axis is attenuated preferentially over light that is aligned with the polarization axis.
  • the amount of polarized light that can pass through a polarization filter can therefore be varied by either i) rotating the polarization state of the emitted light around an axis generally parallel to the axis of propagation or ii) by rotating the polarization filter around an axis generally parallel to the axis of propagation.
  • This can directly be applied to measuring the angle of rotation for the purposes of the present invention.
  • This is most applicable to encoder system embodiments where the encoding interface is configured as seen with an encoding interface body 502 as seen in Figure 6a. Both reflective and transmissive embodiments are possible.
  • the light that returns from the polarization-based encoding interface 350 to the detection circuit must pass through a second polarization filter, such as a filter within the distal detection optics 131 (i.e. if separate fibers are used for detection and emission, as seen in Figure 4b) or along the detection arm of the optical circuit, with the additional requirement that the fiber optic that lies between the distal optics 131 of the detection arm and the detecting segment 121 of fiber optic is polarization maintaining fiber.
  • the detector 126 on the detection arm of the optical encoder circuit can be replaced by a polarimeter.
  • Advantages of the polarization filter dependent embodiments include the fact that the rotation of the encoding pattern relative to the optical circuit components provides an inherent change in the amount of light detected that can be mapped to an angle of rotation. Furthermore, the light beam can be focused anywhere along the plane of the encoding pattern, including the intersection of the plane with the axis of rotation of the probe, and produce the same results.
  • Figures 11c through 11f pictorially depict the rotation of the polarization-based encoding interface 350 around its rotational center while the distal optics 115 of the encoder's optical circuit remain relatively fixed.
  • the polarization state of the light emitted from the optical circuit is aligned with polarization axis of the polarized encoding pattern.
  • the polarization state of the emitted light and the polarization axis of the polarized encoding pattern become gradually unaligned, and this is shown to continue through to Figure 11f.
  • the polarization state of the emitted light and the polarization axis of the filter are 90 degrees out of alignment, the light detected reaches minimum.
  • OCT has remarkably high axial resolution (on the order of 4 to 20 microns) and remarkably good lateral resolution when focused with an appropriate lens near the distal tip of the OCT imaging fiber.
  • an imaging probe whether used for ultrasound imaging, OCT imaging or any other imaging method, has a separate OCT channel used primarily for the purposes of detection of rotary motion.
  • variable thickness material 381 could be mechanically supported by a substrate 382, which may be reflective (to enhance the detection of the trailing edge 384, but not necessarily so.
  • a hardware or software algorithm that receives the output of the OCT detection system could then estimate the thickness and that thickness could then be mapped to an angle of rotation.
  • the OCT detection fiber in most of the embodiments is separate from the OCT imaging fiber.
  • the combined OCT imaging and rotary encoder embodiment 430 in Figure 12f it is possible to use the same fiber optic, lens and other components for the dual purposes of imaging and detecting the angle of rotation.
  • the shell of the imaging probe in Figure 12F has a variable thickness wall 431 of the imaging probe near the imaging assembly 30.
  • the variable thickness wall 431 has the property that its thickness varies as a function of the angle from the center of the imaging probe.
  • FIGS 13a to 13e show views of a combined modality imaging assembly 440 embodiment comprising a combined ultrasound transducer 88 and the distal end of an OCT imaging circuit 441 that both image at different rotational angles (in this example, 90 degrees apart) from each other while rotating around the longitudinal axis.
  • Ultrasound transducer 88 comprises an acoustic substrate 402 in between conducting layers 401.
  • the ultrasound transducer and distal end 441 of the OCT imaging fiber would be included as part of the imaging assembly 30 that rotates with the imaging conduit 34.
  • the optical rotary encoder circuit will detect the rotary motion.
  • the reflective tiltable component 901 will tend to overcome the restoring force of the spring 904 and pivot towards stop 82. This will cause the optical and acoustic imaging beams of the present embodiment to have the property of having a variable angle of propagation with respect to the longitudinal axis of the imaging probe.
  • the tilting angle of the tiltable component is dependent in part on the rotational velocity of the imaging assembly 905, information provided by the optical rotary encoder can be helpful in indirectly estimating or inferring the tilting angle of the tiltable component 901.

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  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • General Physics & Mathematics (AREA)
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  • Astronomy & Astrophysics (AREA)
  • Artificial Intelligence (AREA)
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PCT/CA2008/000091 2007-01-19 2008-01-21 Medical imaging probe with rotary encoder WO2008086615A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US88116907P 2007-01-19 2007-01-19
US60/881,169 2007-01-19

Publications (1)

Publication Number Publication Date
WO2008086615A1 true WO2008086615A1 (en) 2008-07-24

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ID=39635607

Family Applications (4)

Application Number Title Priority Date Filing Date
PCT/CA2008/000091 WO2008086615A1 (en) 2007-01-19 2008-01-21 Medical imaging probe with rotary encoder
PCT/CA2008/000089 WO2008086613A1 (en) 2007-01-19 2008-01-21 Imaging probe with combined ultrasound and optical means of imaging
PCT/CA2008/000092 WO2008086616A1 (en) 2007-01-19 2008-01-21 Scanning mechanisms for imaging probe
PCT/CA2008/000090 WO2008086614A1 (en) 2007-01-19 2008-01-21 Electrostatically driven imaging probe

Family Applications After (3)

Application Number Title Priority Date Filing Date
PCT/CA2008/000089 WO2008086613A1 (en) 2007-01-19 2008-01-21 Imaging probe with combined ultrasound and optical means of imaging
PCT/CA2008/000092 WO2008086616A1 (en) 2007-01-19 2008-01-21 Scanning mechanisms for imaging probe
PCT/CA2008/000090 WO2008086614A1 (en) 2007-01-19 2008-01-21 Electrostatically driven imaging probe

Country Status (10)

Country Link
US (7) US8214010B2 (zh)
EP (4) EP2111165B8 (zh)
JP (11) JP2010516304A (zh)
KR (2) KR101529333B1 (zh)
CN (7) CN101686827B (zh)
AU (1) AU2008207265B2 (zh)
CA (5) CA3156115C (zh)
HK (5) HK1141702A1 (zh)
NZ (2) NZ579126A (zh)
WO (4) WO2008086615A1 (zh)

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US8753281B2 (en) 2006-11-08 2014-06-17 Lightlab Imaging Inc. Opto-acoustic imaging devices and methods
US9833221B2 (en) 2013-03-15 2017-12-05 Lightlab Imaging, Inc. Apparatus and method of image registration
CN110430808A (zh) * 2017-02-24 2019-11-08 泰利福医疗公司 具有柔性尖端结构的血管内传感装置
US10792012B2 (en) 2012-11-19 2020-10-06 Lightlab Imaging, Inc. Interface devices, systems and methods for multimodal probes

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US7708749B2 (en) 2000-12-20 2010-05-04 Fox Hollow Technologies, Inc. Debulking catheters and methods
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US20050165312A1 (en) * 2004-01-26 2005-07-28 Knowles Heather B. Acoustic window for ultrasound probes
JP5110881B2 (ja) 2004-02-20 2012-12-26 ユニバーシティ オブ フロリダ リサーチ ファウンデーション，インコーポレイティド 軟組織を同時に画像化しながら等角放射線治療を送達するためのシステム
US8858495B2 (en) * 2004-12-28 2014-10-14 St. Jude Medical, Atrial Fibrillation Division, Inc. Five degree of freedom ultrasound catheter and catheter control handle
DE102005059261B4 (de) * 2005-12-12 2013-09-05 Siemens Aktiengesellschaft Kathetervorrichtung zur Behandlung eines teilweisen und/oder vollständigen Gefässverschlusses und Röntgeneinrichtung
US20070208257A1 (en) * 2006-03-03 2007-09-06 Furnish Simon M Lateral Viewing Optical Catheters
US20070276419A1 (en) 2006-05-26 2007-11-29 Fox Hollow Technologies, Inc. Methods and devices for rotating an active element and an energy emitter on a catheter
EP2068975A4 (en) * 2006-08-08 2013-10-30 Peak Biosciences Inc CATHETER AND ARRAY FOR ANTIQUE THERAPY
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